对2008—2014年中国东部海域春季海上发展气旋进行了统计与诊断分析。结果表明:1)这类气旋属于较浅薄的低值系统,垂直伸展高度多在600 h Pa以下,水平尺度多在1 500 km以内。伴随的强天气为大风、大浪与强降水,落区主要位于气旋东南部。2...对2008—2014年中国东部海域春季海上发展气旋进行了统计与诊断分析。结果表明:1)这类气旋属于较浅薄的低值系统,垂直伸展高度多在600 h Pa以下,水平尺度多在1 500 km以内。伴随的强天气为大风、大浪与强降水,落区主要位于气旋东南部。2)气旋环流各层的大风急流区构成了气旋的东南部位,称为气旋急流。从高层到低层,气旋急流轴在垂直方向上呈逆时针旋转,形成气旋上大下小的漏斗形状。3)气旋急流左侧的气旋式切变有利于气旋中心强度的维持,上层气旋急流左侧对应下层气旋急流前部流速辐合区,有利于气旋式动力抽吸及在气旋东南部形成强的垂直上升运动区。各层气旋急流配置导致气旋的非对称结构,以及气旋要素的非对称分布。气旋急流向气旋中输入螺旋度以及充足的水汽,并在东南部强烈抬升,增强了凝结潜热释放,从热力和动力两方面促进气旋发展及强天气落区。4)春季下垫面温度分布(锋区)有利于气旋急流的增强,并通过西北部非绝热冷却和东南部非绝热加热,增强气旋斜压性。高空环境西风急流位于气旋右侧,形成了整层偏差风辐合,有效增强低层气旋急流。同时高空动量下传位于气旋西侧,首先增强气旋西北部的弱流部分(即气旋螺旋结构的下沉支),进而增强整个气旋的螺旋环流,促使气旋急流也从下层开始增强。展开更多
Most research papers about parallel kinematic chainmechanisms investigate symmetric robot manipulators, in which all the limbs connecting the end-effector to the fixed based are composed by the same sequence of links ...Most research papers about parallel kinematic chainmechanisms investigate symmetric robot manipulators, in which all the limbs connecting the end-effector to the fixed based are composed by the same sequence of links and joints. Contrarily, in some manipulation tasks the velocity and stiffness requirements are anisotropic. In such cases, the asymmetric parallel kinematic chain mechanisms may offer advantages. This work objective is to present the synthesis, dynamic modeling and analysis of a 3-dof asymmetric parallel chain mechanism, conceived as a robot manipulator for pick-and-place operations. Firs＇t, a structural synthesis, resulting in a three translations end-effector, and a kinematic modeling are carried out. Then, the inverse dynamic modeling is developed by employing the virtual work principle. Based on the model equations and on the saturation of the mechanism actuators, a maximum acceleration analysis is performed and shows that although the mechanism has a parallel architecture its actuators influences on the 3-dof are quite decoupled.展开更多
文摘对2008—2014年中国东部海域春季海上发展气旋进行了统计与诊断分析。结果表明:1)这类气旋属于较浅薄的低值系统,垂直伸展高度多在600 h Pa以下,水平尺度多在1 500 km以内。伴随的强天气为大风、大浪与强降水,落区主要位于气旋东南部。2)气旋环流各层的大风急流区构成了气旋的东南部位,称为气旋急流。从高层到低层,气旋急流轴在垂直方向上呈逆时针旋转,形成气旋上大下小的漏斗形状。3)气旋急流左侧的气旋式切变有利于气旋中心强度的维持,上层气旋急流左侧对应下层气旋急流前部流速辐合区,有利于气旋式动力抽吸及在气旋东南部形成强的垂直上升运动区。各层气旋急流配置导致气旋的非对称结构,以及气旋要素的非对称分布。气旋急流向气旋中输入螺旋度以及充足的水汽,并在东南部强烈抬升,增强了凝结潜热释放,从热力和动力两方面促进气旋发展及强天气落区。4)春季下垫面温度分布(锋区)有利于气旋急流的增强,并通过西北部非绝热冷却和东南部非绝热加热,增强气旋斜压性。高空环境西风急流位于气旋右侧,形成了整层偏差风辐合,有效增强低层气旋急流。同时高空动量下传位于气旋西侧,首先增强气旋西北部的弱流部分(即气旋螺旋结构的下沉支),进而增强整个气旋的螺旋环流,促使气旋急流也从下层开始增强。
文摘Most research papers about parallel kinematic chainmechanisms investigate symmetric robot manipulators, in which all the limbs connecting the end-effector to the fixed based are composed by the same sequence of links and joints. Contrarily, in some manipulation tasks the velocity and stiffness requirements are anisotropic. In such cases, the asymmetric parallel kinematic chain mechanisms may offer advantages. This work objective is to present the synthesis, dynamic modeling and analysis of a 3-dof asymmetric parallel chain mechanism, conceived as a robot manipulator for pick-and-place operations. Firs＇t, a structural synthesis, resulting in a three translations end-effector, and a kinematic modeling are carried out. Then, the inverse dynamic modeling is developed by employing the virtual work principle. Based on the model equations and on the saturation of the mechanism actuators, a maximum acceleration analysis is performed and shows that although the mechanism has a parallel architecture its actuators influences on the 3-dof are quite decoupled.
